Self-Balancing Vehicle With Rotation Stop

ABSTRACT

A self-balancing vehicle includes a vehicle body having a housing with left and right sides which are independently moveable. A unitary support bar is disposed within the housing, and a left drive wheel and an opposed right drive wheel are each coupled to the support bar. A bracket encircles the support bar; the bracket has a cylindrical body formed with a slot through the body. A set screw is fixed to the support bar and is received within the slot to limit rotational movement of the support bar with respect to the bracket.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is continuation of priori U.S. patent application Ser. No. 16/922,305, filed Jul. 7, 2020, which is a continuation-in-part of and claims the benefit of prior U.S. patent application Ser. No. 16/545,415, filed Aug. 20, 2019 (now U.S. Pat. No. 10,722,778 issued Jul. 28, 2020), which is a continuation of and claims the benefit of prior U.S. patent application Ser. No. 16/400,247, filed May 1, 2019 (now U.S. Pat. No. 10,421,006 issued Sep. 24, 2019), all of which are hereby incorporated by reference.

FIELD OF THE INVENTION

The present invention relates generally to vehicles, and more particularly to personal, self-balancing vehicles.

BACKGROUND OF THE INVENTION

In the past ten years, self-balancing vehicles have exploded in popularity. These vehicles sense slight forward and rearward pressure on a foot pad, indicating a rider's forward or rearward lean, and then rotate one or two wheels in response, thereby moving the vehicle and its rider forward or backward.

Self-balancing vehicles are compact; they are little more than two opposed, rugged wheels and a span of body between them. The body typically houses a battery, sensors, controllers, processors, speakers, and other electronic components. Nevertheless, reducing the size and weight of the body is always desirable.

SUMMARY OF THE INVENTION

A self-balancing vehicle includes a vehicle body having a housing with left and right sides which are independently moveable. A unitary support bar is disposed within the housing, and a left drive wheel and an opposed right drive wheel are each coupled to the support bar. A bracket encircles the support bar; the bracket has a cylindrical body formed with a slot through the body. A set screw is fixed to the support bar and is received within the slot to limit movement of the left side relative the right side.

The above provides the reader with a very brief summary of some embodiments discussed below. Simplifications and omissions are made, and the summary is not intended to limit or define in any way the scope of the invention or key aspects thereof. Rather, this brief summary merely introduces the reader to some aspects of the invention in preparation for the detailed description that follows.

BRIEF DESCRIPTION OF THE DRAWINGS

Referring to the drawings:

FIGS. 1 and 2 are top and bottom perspective views, respectively, of a self-balancing vehicle;

FIGS. 3A and 3B are exploded top and bottom perspective views, respectively, of the self-balancing vehicle of FIG. 1;

FIG. 4A is a top perspective view of the self-balancing vehicle of FIG. 1 with a top cover removed;

FIG. 4B is a bottom plan view of the self-balancing vehicle of FIG. 1 with a bottom cover removed;

FIG. 5 is an exploded front elevation view of the self-balancing vehicle of FIG. 1;

FIG. 6 is a generalized circuit diagram of the self-balancing vehicle; and

FIGS. 7A and 7B are section views, taken along the line 7-7 in FIG. 1, showing limited movement of right and left sides of the self-balancing vehicle of FIG. 1.

DETAILED DESCRIPTION

Reference now is made to the drawings, in which the same reference characters are used throughout the different figures to designate the same elements. FIGS. 1 and 2 are top and bottom perspective views illustrating a self-balancing vehicle (hereinafter, “vehicle” 10) including two rugged drive wheels 11 and 12 mounted to a body 13 which includes a housing 16 of a top cover 14 and a bottom cover 15. The vehicle 10 is nearly symmetric about a vertical plane of symmetry bisecting the vehicle into left and right halves, and as such, the description may refer to various structural elements and features as being on the left or the right, or may refer to various structural elements and features with the adjectives “left” or “right.” For purposes of clarity, the left half or left side of the vehicle 10 is identified in FIGS. 1 and 2 with an L and the right half or right side is identified with an R. For example, the drive wheel 11 is a left drive wheel, and the drive wheel 12 is a right drive wheel 12.

The top cover 14 has a left top cover 20 and a right top cover 21 which are symmetric to each other and disposed opposite each other with respect to the plane of symmetry bisecting the vehicle 10. Because the left and right top covers 20 and 21 are nearly mirror identical, only the left top cover 20 will be described herein, with the understanding that the description applies equally to the right top cover 21. Indeed, the same reference characters are used for the various structural elements and features of both the left and right top covers 20 and 21, but those of the right top cover 21 are marked with a prime (“′”) symbol to distinguish them from those of the left top cover 20. Referring to FIGS. 1-3, the left top cover 20 includes an inner semi-cylinder 22 extending outwardly from the plane of symmetry and an hour-glass-shaped base 23 integrally formed to the semi-cylinder 22. The base 23 includes a seat 24, depressed slightly below the top of the base 23, and a separate foot pad 25 received in the seat 24. The foot pad 25 is preferably a textured or grippy rubber pad on which the rider can stand while riding the vehicle 10.

In the seat 24, under the foot pad 25, are round fore and aft sensors 26. The fore sensors 26 are shown on both the left and right top covers 20 and 21 in FIG. 3A; the aft sensors 26 are identical and just behind the fore sensors 26. A rigid plate 28 under the foot pad 25 has two depending protrusions 29 aligned with these sensors 26; when the rider stands on the left and right foot pads 25 and 25′ and presses forward or rearward, the protrusions activate the sensors 26 and 26′. The sensors 26 are coupled in electrical communication with processors on printed circuit boards, which in turn send drive signals to the drive wheels 11 and 12. The left top cover 20 also includes the integrally-formed fender 27 which wraps over the top of the drive wheel 11, protecting the drive wheel 11 from the rider and protecting the rider from the drive wheel 11.

The left and right top covers 20 and 21 are top portions of the housing 16; they cover and protect the internal components of the vehicle 10 from dust and debris and provide a convenient location to receive a rider's feet. Notably, the top cover 15 does not include an inner top cover and an outer top cover; whereas some self-balancing vehicles employ an inner top cover or frame to provide rigidity, durability, and structural integrity to the vehicle and a top cover for decoration, beautification, or for holding foot pads, the vehicle 10 here does not require such an inner cover. Rather, structurally-reinforcing characteristics such as rigidity are achieved with other elements and features, as discussed below. As such, the main roles of the top cover 14 are to protect the vehicle 10 from the elements such as water, dust, and debris, and to carry the rider, but not to reinforce the structure of the vehicle 10.

The housing 16 also includes the bottom cover 15. The bottom cover 15 also protects the vehicle 10 from water, dust, and debris but does not primarily contribute to the rigidity or structural integrity of the vehicle 10. The bottom cover 15 has a left bottom cover 30 and a right bottom cover 31 which are symmetric to each other and disposed opposite each other with respect to the plane of symmetry bisecting the vehicle 10. Because the left and right bottom covers 30 and 31 are nearly mirror identical, only the left bottom cover 30 will be described herein, with the understanding that the description applies equally to the right bottom cover 31. Indeed, the same reference characters are used for the various structural elements and features of both the left and right bottom covers 30 and 31, but those of the right bottom cover 15 are marked with a prime (“′”) symbol to distinguish them from those of the left bottom cover 30. Referring to FIGS. 1-3, the left bottom cover 30 includes an inner semi-cylinder 32 extending outwardly from the plane of symmetry, and an hour-glass-shaped base 33 integrally formed to the semi-cylinder 32. The base 33 has a flat bottom 34 which is formed with several perforations 35 for emitting sound from a speaker behind the perforations. The base 33 additionally has a shaped lens 36 for a light.

The left and right bottom covers 30 and 31 are bottom portions of the housing 16; they cover and protect the internal components of the vehicle 10 from dust and debris. They are, however, little more than hard shells. Notably, the bottom cover 15 does not include an inner bottom cover and an outer bottom cover; whereas some self-balancing vehicles employ an inner bottom cover or frame to provide rigidity, durability, and structural integrity to the vehicle and a bottom cover for decoration or beautification, the vehicle 10 here does not require such an inner cover. Rather, as mentioned above, structurally-reinforcing characteristics such as rigidity are achieved with other elements and features, as discussed below. As such, the main role of the bottom cover 15 is to protect the vehicle 10 from the elements such as water, dust, and debris, but not to reinforce the structure of the vehicle 10.

The vehicle 10 carries its structural, electrical, and mechanical elements and features within the housing 16. Reference is made primarily with respect to FIGS. 3A, 4A, and 5 (note that FIG. 5 is reversed with respect to the other figures; the left and right sides are oppositely arranged on the page). A unitary support bar 40 is disposed within the housing 16, between the top and bottom covers 14 and 15 and extending entirely along the top and bottom covers 14 and 15 between opposed left and right ends 41 and 42 of the support bar 40. The left end 41 of the support bar 40 extends entirely to just below the left fender 27, and the right end 42 of the support bar 40 extends entirely to just below the right fender 27′. Along this length, the support bar 40 is unitary: it is continuous, unbroken, and uninterrupted. The support bar 40 has an underside into which a channel 180 is formed. The channel 180 extends axially along the full length of the support bar 40 between its opposed ends 41 and 42. The support bar 40 is integral and monolithic along its full length between the opposed left and right ends 41 and 42. The support bar 40 is a hollow cylindrical tube, constructed from a material or combination of materials having high strength, durability, and rigidity, such as steel, aluminum, titanium, carbon fiber, and the like. The support bar 40 is very strong and is payload-bearing: it is capable of carrying the weight of a large rider on the vehicle 10 without bending, yielding, breaking, or rendering the vehicle inoperative.

The support bar 40 is disposed medially in the housing 16; it is equidistant from the front of the housing 16 and the back of the housing 16, and is thus coaxial to the drive wheels 11 and 12 and is flanked by the fore and aft sensors 26 on both the left and right sides L and R of the vehicle 10. The foot pads 25 and 25′ and the plates 28 and 28′ are registered directly above the support bar 40 and are each symmetric with respect to it. The top and bottom covers 14 and 15 are each coupled to the support bar 40 and rely on its rigid and strong material characteristics to provide strength and rigidity to the entire vehicle 10. Indeed, but for the small support assemblies engaging the top and bottom covers 14 and 15 to the support bar 40, the support bar 40 is not coupled to any other part of the vehicle 10, provides reinforcement to no other part of the vehicle 10, and yet supports the entire vehicle 10 without assistance from secondary frame elements such as an inner top cover or frame, or an inner bottom cover or frame.

Indeed, these support assemblies are structures separate from each of the support bar 40, the top cover 14, and the bottom cover 15, are coupled to the top and bottom covers 14 and 15, and, in turn, couple the top and bottom covers 14 and 15 to the support bar 40. The support assemblies include a medial support collar 50, an outer left bracket 51, an inner left bracket 52, an outer right bracket 53, and an inner right bracket 54. Each of these support assemblies encircles the support bar 40 and transfers loads from the housing 16 directly and solely to the support bar 40.

The medial support collar 50 is located in the middle of the vehicle 10, halfway between the drive wheels 11 and 12, and at the middle of the length of the support bar 40. It is an assembly, constructed from two separate pieces: an upper collar 60 and an opposed lower collar 61. The upper collar 60 is most clearly seen in FIG. 4A. The upper collar 60 includes semi-cylindrical left and right covers 62 and 63, with a coaxial, centrally interposed, semi-annular flange 64 projecting radially outward from between them. The left and right covers 62 and 63 have a smaller outer diameter than does the flange 64, though the covers 62 and 63 and the flange 64 have a coextensive inner diameter corresponding to the outer diameter of the support bar 40. The left and right covers 62 and 63 are preferably integrally formed to the flange 64 as a single piece. The flange 64 has opposed faces 65 and 66.

The lower collar 61 is more clearly seen in FIGS. 3A and 5. The lower collar 61 includes semi-cylindrical left and right covers 72 and 73, with a coaxial, centrally interposed, semi-annular flange 74 projecting radially outward from between them. The left and right covers 72 and 73 have a smaller outer diameter than does the flange 74, though the covers 72 and 73 and the flange 74 have a coextensive inner diameter corresponding to the outer diameter of the support bar 40 and also corresponding to the inner diameter of the upper collar 60. The left and right covers 72 and 73 are preferably integrally formed to the flange 74 as a single piece. The flange 74 has opposed faces 75 and 76.

The upper and lower collars 60 and 61 fit together around the support bar 40, and are fastened together by screws or other fasteners 77 through holes 78. When so fastened, the upper and lower collars 60 and 61 form the medial support collar 50 on the support bar 40, and the top and bottom covers 14 and 15 are spaced apart from each other slightly by the annular flanges 64 and 74 extending radially outward from between the left and right portions of the top and bottom covers 14 and 15. This prevents the left and right portions of the top and bottom covers 14 and 15 from rubbing and wearing against each other.

The outer left bracket 51, best seen in FIGS. 3A and 4A, is also fit to the support bar 40. The bracket 51 includes a cylindrical body 80 having a relatively short length between inner and outer ends (the outer end is directed toward the drive wheel 11 and the inner end is directed toward the drive wheel 12). Generally, it is noted that the dimension “length” is referred to herein with respect to a direction along or parallel to the support bar 40, as it was used and described with respect to the support bar 40. Opposed flanges 81 and 82 extend outwardly from the cylindrical body 80. The flanges 81 and 82 are rectangular, and they extend from the body 80, not from a central location, but rather from just above the midline of the body 80, or closer to the top cover 14 than to the bottom cover 15. The flanges 81 and 82 are coextensive and have transverse holes 83 extending through them. The bracket 51 has a width (transverse to its length) extending between the ends of the flanges 81 and 82.

The inner left bracket 52 is closer to the drive wheel 12 and further from the drive wheel 11 than is the outer left bracket 51. Like the outer left bracket 51, the bracket 52 includes a cylindrical body 90 having a relatively short length between inner and outer ends (the outer end is directed toward the drive wheel 11 and the inner end is directed toward the drive wheel 12). Opposed flanges 91 and 92 extend outwardly from the cylindrical body 80. The flanges 91 and 92 are rectangular, and they extend from the body 90, not from a central location, but rather just above the midline of the body 90. The flanges 91 and 92 are coextensive and have transverse holes 93 extending through them. The bracket 52 has a width (transverse to its length) extending between the ends of the flanges 91 and 92; this width is equal to that of the bracket 51.

The inner right bracket 54 is closer to the drive wheel 12 and further from the drive wheel 11 than is the inner left bracket 52, and indeed, the inner right bracket 54 is spaced apart from the inner left bracket 52 by the medial support collar 50. Like the inner left bracket 52, the bracket 54 includes a cylindrical body 100 having a relatively short length between inner and outer ends (the outer end is directed toward the drive wheel and the inner end is directed toward the drive wheel 11). Opposed flanges 101 and 102 extend outwardly from the cylindrical body 100. The flanges 101 and 102 are rectangular, and they extend from the body 100, not from a central location, but rather from just above the midline of the body 100. The flanges 101 and 102 are coextensive and have transverse holes 103 extending through them. The bracket 54 has a width (transverse to its length) extending between the ends of the flanges 101 and 102; this width is less than that of the brackets 51 and 52.

The outer right bracket 53 is closer to the drive wheel 12 and further from the drive wheel 11 than is the inner right bracket 54. Like the inner right bracket 54, the bracket 53 includes a cylindrical body 110 having a relatively short length between inner and outer ends (the outer end is directed toward the drive wheel 12 and the inner end is directed toward the drive wheel 11). Opposed flanges 111 and 112 extend outwardly from the cylindrical body 110. The flanges 111 and 112 are rectangular, and they extend from the body 110, not from a central location, but rather from just above the midline of the body 110. The flanges 111 and 112 are coextensive and have transverse holes 113 extending through them. The bracket 53 has a width (transverse to its length) extending between the ends of the flanges 111 and 112; this width is equal to the widths of the brackets 51 and 52 and less than that of the bracket 54.

Each of the brackets 51-54 encircles the support bar 40. Since the brackets 51-54 are fixed to the top and bottom covers 14 and 15, and the support bar 40 is securely carried within the brackets 51-54, the support bar 40 is secured with respect to the top and bottom covers 14 and 15 of the housing 16. However, the support bar 40 is allowed to rotate to some extent with respect to the top and bottom covers 14 and 15. This allows the rider to move forward or backward or turn by rotating or tilting the left and right halves forward or backward with respect to the support bar 40. The relative movement of the right and left halves R and L of the vehicle 10 is limited.

The outer and inner left brackets 51 and 52 are both engaged with the support bar 40 to prevent relative movement of the support bar 40 with respect to the brackets 51 and 52. The outer left bracket 51 has an internal tongue 181 within its cylindrical body 80. This tongue 181 projects radially inwardly into the hollow space bound by the cylindrical body 80. The tongue 181 is complemental to the channel 180 formed along the underside of the support bar 40. The tongue 181 fits snugly into the channel 180 and prevents relative movement of the outer left bracket 51 and the support bar 40. Similarly, the inner left bracket 52 also has an internal tongue 182 within its cylindrical body 90. This tongue 182 also projects radially inwardly into the hollow space bound by the cylindrical body 90. The tongue 182 is also complemental to the channel 180 and fits into the channel 180 to prevent relative movement of the inner left bracket 52 and the support bar 40. As such, both the outer and inner left brackets 51 and 52 are fixed with respect to each other and with respect to the support bar 40 so as to not move in rotation relative each other.

The outer right bracket 53 is not engaged with the support bar, but the inner right bracket 54 is. The inner surface of the cylindrical body 110 of the outer right bracket 53 is smooth and does not engage with the support bar 40. It therefore encircles and supports, but allows the support bar 40 to rotate within the hollow space bound by its cylindrical body 110. The cylindrical body 100 of the inner right bracket 54, however, is formed with a slot 183 extending circumferentially, transverse to the axis of the body 100 and transverse to the support bar 40. The slot 183 is disposed on the underside of the bracket 54, which underside is directed toward the ground when the vehicle 10 is in use. The slot 183 is open along an arc, which arc is symmetric about a vertical plane extending through the axis of the cylindrical body 102. The slot 183 is thus open both slightly in front of and behind vertical.

As best seen in FIGS. 3B, 4B (which shows the vehicle 10 from below with the bottom cover removed), 7A, and 7B, a set screw 184 is received in this slot 183 to govern movement of the support bar 40 with respect to the inner right bracket 54. The set screw 184 has a shank and a head which is preferably enlarged. But the set screw 184 is not necessarily so limited: in other embodiments, the set screw 184 may be a screw, bolt, post, pin, or other projection from the support bar 40 through the slot 183. The set screw 184 is fastened or fixed to the support bar 40, preferably by secure engagement in the sidewall thereof. In some embodiments, as shown in FIG. 3B, a threaded bore 185 is formed in the support bar, 40, such as in the channel 180, and the set screw 184 is threadably engaged into this bore 185 in the channel 180. The set screw 184 is fastened to the support bar 40 such that its head projects radially away from the support bar 40; the head is fit in the slot 183. The slot 183 is sized to closely receive the head of the set screw 184, thereby preventing relative lateral movement of the set screw 184 in the slot 183 but allowing relative arcuate or rotational movement of the set screw 184 through the slot 183. When the set screw 184 is engaged to the support bar 40, and the set screw 184 is received for arcuate movement within the slot 183, then the support bar 40 is received and carried for limited rotational movement within the inner right bracket 54. The set screw 184 acts as a stop to such rotational movement, thereby limiting the extent of rotational movement of the support bar 40 with respect to the inner right bracket 54. This arrangement allows the left half L of the vehicle 10 to be tilted independently of the right half R, but only to a limit. With reference to FIGS. 7A and 7B, which are section views taken through the set screw 184 (and along the line 7-7 in FIG. 1), movement of the support bar 40 is independent of movement of the right half R of the vehicle 10, but only to an extent. FIG. 7A shows the support bar 40 rotated to a rearward position, with the set screw 184 against the front of the slot 183 in the inner right bracket 54. This occurs when the rider tilts the left half L of the vehicle 10 forward and/or the right half R of the vehicle 10 backward, to move the vehicle 10 to the left. This causes the support bar 40 to rotate with the left half L of the vehicle 10 without rotating the right half R of the vehicle R. With the set screw 184 engaged to the support bar 40 and the inner right bracket 54 independent of the support bar 40, this causes the set screw 184 to move within the slot 183. Indeed, the set screw 184 is moved as far rearward as possible in the slot 183, such that it abuts the cylindrical body 100 of the bracket 54. In this position, the support bar 40 cannot be rotated any further, as the interaction of the set screw 184 with the slot 183 prevents such movement.

FIG. 7B then shows the vehicle in a different arrangement. The rider has tilted the right half R of the vehicle 10 forward and/or the left half L of the vehicle 10 rearward, so as to drive the vehicle 10 to the left. This causes the support bar 40 to rotate with the left half L of the vehicle 10 without rotating the right half R of the vehicle R. With the set screw 184 engaged to the support bar 40 and the inner right bracket 54 independent of the support bar 40, this causes the set screw 184 to move within the slot 183 away from the rearward position of FIG. 7A. The set screw 184 is moved as far forward in the slot 183 as possible, such that it abuts the cylindrical body 100 of the bracket 54. In this position, the support bar 40 cannot be rotated any further; the interaction of the set screw 184 with the slot 183 prevents such movement.

In this way, the left and right halves L and R are prevented from over-rotating with respect to each other. Because the set screw 184 acts as a stop within the slot 183, the left and right halves L and R cannot deviate by more than preferably approximately thirty degrees. In other embodiments, that angular offset is less, because the slot is shorter. In yet other embodiments, that angular is more, because the slot is longer.

The inner left and right brackets 52 and 54 are secured directly to the top and bottom covers 14 and 15. Since there is no inner top cover or frame, nor an inner bottom cover or frame, the brackets 52 and 54 are secured directly to the top and bottom covers 14 and the support bar 40 to provide rigidity and structural integrity to the top and bottom covers 14 and 15. Fasteners are passed through the holes 93 and 103 into sockets in the top and bottom covers 14 and 15 to engage them with the brackets 52 and 54 and thus also with the support bar 40.

The outer left and right brackets 51 and 53 are secured to the top and bottom covers 14 and 15 as well. A set of plates secures the brackets 51 and 53 to the top cover 14. A set of left plates 120 couples the outer left bracket 51 to the top cover 14, and a set of right plates 121 couples the outer right bracket 53 to the top cover 14. The left plates 120 are best seen in FIGS. 3A, 4A, and 5. They are thin and elongate, extending lengthwise along the support bar 40. The two left plates 120 are identical, and so the description herein refers to both, but neither one specifically. The left plate 120 includes an inner end 122 and an opposed outer end 123, as well as opposed inner and outer sides 124 and 125. The inner and outer ends 122 and 123 are both short, flat, and parallel. The inner end 122 is directed toward the medial support collar 50, while the outer end 123 is directed outward toward the drive wheel 11. The inner side 124 is directed toward the support bar 40, while the outer side 125 is directed outward away from the support bar 40, toward the housing 16. The inner side 124 is rectilinear and stepped. The inner side 124 extends from the outer end 123 transverse to the outer end 123, then is spaced back, away from the support bar 40 proximate the inner end 124. The outer side, 125, proximate the outer end 123, is arcuate and concave, extending inward into the body of the left plate 120 and toward the support bar 40. Then, at approximately the same point that the inner side 124 is spaced back, the outer side 125 extends linearly to the inner end 122 in a direction parallel to the inner side 124. A plurality of holes 126 are formed entirely through the left plate 120, allowing the left plate 120 to be fastened to the outer left bracket 51. The left plate 120 is secured to the outer left bracket 51 proximate the inner end 122, and the outer end 123 of the left plate 120 is proximate the drive wheel 11. Thus, proximate the outer end 123, the inner side 124 of the left plate 120 is closely received against the axle of the drive wheel 11, and the outer side 125 is closely received against the round sensors 26. Moreover, proximate the outer end 123, the left plate 120 is directly received against the left top cover 20. Again, there are two left plates 120—a fore and an aft plate 120—one in front of and one behind the support bar 40. As such, the left plates 120 flank the support bar 40 and the axle of the drive wheel 11 and are respectively flanked by the fore and aft sensors 26.

The right plates 121 are best seen in FIGS. 3A, 4A, and 5. They are thin and elongate, extending lengthwise along the support bar 40. The two right plates 121 are identical, and so the description herein refers to both, but neither one specifically. The right plate 121 includes an inner end 132 and an opposed outer end 133, as well as opposed inner and outer sides 134 and 135. The inner ends 132 and 133 are both short, flat, and parallel. The inner end 132 is directed toward the medial support collar 50, while the outer end 133 is directed outward toward the drive wheel 12. The inner side 134 is directed toward the support bar 40, while the outer side 135 is directed outward away from the support bar 40, toward the housing 16. The inner side 134 is rectilinear and stepped. The inner side 134 extends from the outer end 133 transverse to the outer end 133, then is spaced back, away from the support bar 40 proximate the inner side 134. The outer side, 135, proximate the outer end 133, is arcuate and concave, extending inward into the body of the right plate 121 and toward the support bar 40. Then, at approximately the same point that the inner side 134 is spaced back, the outer side 135 extends linearly to the inner end 132 in a direction parallel to the inner side 134. A plurality of holes 126 are formed entirely through the right plate 121, allowing the right plate 121 to be fastened to the outer right bracket 53. The right plate 121 is secured to the outer right bracket 53 proximate the inner end 132, and the outer end 133 of the right plate 121 is proximate the drive wheel 12. Thus, proximate the outer end 133, the inner side 134 of the right plate 121 is closely received against the axle of the drive wheel 12, and the outer side 135 is closely received against the round sensors 26. Moreover, proximate the outer end 133, the right plate 121 is directly received against the right top cover 21. Again, there are two right plates 121—a fore and an aft plate 121—one in front of and one behind the support bar 40. As such, the right plates 121 flank the support bar 40 and the axle of the drive wheel 12 and are respectively flanked by the fore and aft sensors 26.

Supports 140 and 141 secure the brackets 51 and 53 to the bottom cover 15. The supports 140 and 141 are identical and only the left support 140 will be described with the understanding that the description applies equally to the right support 141. The structural elements and features of the right support 141 are identified with the same reference characters as those of the left support 140 but are marked with a prime (“′”) symbol to distinguish them from those of the left support 140. The support 140 generally has a wide U shape, including two upstanding posts 142 and 143 and a bridge 144 between them. The support 140 is a hollow, having a thin and monolithic sidewall. The open tops of the posts 142 and 143 are mounted to the top cover 14 just under and outside of the sensors 26. On the underside of the support 140, as shown only in FIG. 5, is a main control or printed circuit board (“PCB”) 145. This PCB 145 is electrically coupled to the sensors 26 on the left portions of the top and bottom covers 14 and 15, the drive wheel 11, and to other parts of the vehicle 10 (note: coupling wires and cables are not shown in any of the drawings for the sake of simplicity; it is expected that one having ordinary skill in the art will understand the nature of such connections from this written description alone).

Similarly, the PCB 145′ is electrically coupled to the sensors 26′ on the right portions of the top and bottom covers 14 and 15, the drive wheel 12, and to other parts of the vehicle 10. The following description, made with reference to FIG. 3A, more easily describes the right side of the vehicle 10; however, one having ordinary skill will understand that applies equally to the left side. The drive wheel 12 is controlled by the PCB 145′. The drive wheel 12 contains a tire and an internal motor. An axle 150′ extends inwardly from the drive wheel 12. The drive wheel 12 rotates with respect to the axle 150′. The axle 150′ is held within the housing 16 and prevented from rotational movement with respect to the housing 16. The axle 150′ is held against the inner sides 134 of each of the right plates 121, as mentioned above. Moreover, a receiving plate 151′ receives and holds the axle 150′ stationary. It includes an inset channel 152′ and two upstanding, parallel ridges 153′ and 154′ flanking and thus defining the inset channel 152′. The axle 150′ is laid into the receiving plate 151′, snugly received in the receiving channel 152′ and between the ridges 153′ and 154′, and the receiving plate 151′ is then fastened to the underside of the right plates 121. The axle 150′ does not actually engage or extend into the support bar 40—there is an axial or lateral gap 155 between the axle 150′ and the right end 42 of the support bar 40—but is coupled to the right end 42 of the support bar 40 through the receiving plate 151′ and the right plates 121. In this way, the drive wheel 12 is securely engaged to the housing 16. The drive wheel 11 is similarly engaged to the housing 16 on the left side by the receiving plate 151.

Referring now to FIGS. 3A-5 still but also to FIG. 6, the PCBs 145 and 145′ are pre-programmed with a set of instructions. The PCBs 145 and 145′ control the drive wheels 11 and 12 in response to a number of inputs from the vehicle 10. For instance, the PCBs 145 and 145′ control the drive wheels 11 and 12 in response to input from the sensors 26. The PCBs 145 and 145′ are energized in response to depression of an on/off switch 160. When energized, the PCBs 145 will light an LED 161 or LEDs disposed behind the lenses 36 to identify that the vehicle 10 is on. Power to the PCBs 145 and 145′ is provided from a battery 162. The battery 162 is large, rigid, and inflexible, but fits within the housing 16 because of a central depression 163 receiving the support bar 40 and spacing apart and separating the battery into two enlarged lobes 164 and 165 fit into the housing 16 on either side of the support bar 40. The battery 162 is charged via a charging port 166, and the PCBs 145 and 145′ regulate the charging of the battery 162 and prevent overcharge. Moreover, thermal sensors or thermal control 167, monitor the temperatures of the drive wheels 11 and 12, the PCBs 145 and 145 themselves, and the battery 162; the PCBs 145 and 145′ shut down the vehicle if an excess temperature is detected.

The PCBs 145 and 145′ are also electrically coupled to a speaker 170, powered by a digital amplifier 171, as well as an antenna 172 for Bluetooth communications, powered by a Bluetooth module 173. These allow the vehicle 10 to receive information and instructions from a Bluetooth-enabled device, such as a mobile phone or tablet device, play music, emit auditory alerts, etc.

In some embodiments, the PCBs transmit an electronic signal to the drive wheels 11 and 12 to instruct them to rotate, in what direction, with what acceleration, and to what speed. In other embodiments, the PCBs transmit an electronic signal to the drive wheels 11 and 12, and logic or another PCB within the drive wheels 11 and 12 receives the signal and controls the drive wheel accordingly.

A preferred embodiment is fully and clearly described above so as to enable one having skill in the art to understand, make, and use the same. Those skilled in the art will recognize that modifications may be made to the description above without departing from the spirit of the invention, and that some embodiments include only those elements and features described, or a subset thereof. To the extent that modifications do not depart from the spirit of the invention, they are intended to be included within the scope thereof. 

The invention claimed is:
 1. A self-balancing vehicle comprising: a vehicle body including a housing having left and right sides which are independently moveable; a unitary support bar disposed within the housing; a left drive wheel and an opposed right drive wheel, each coupled to the support bar; a bracket encircling the support bar, the bracket having a cylindrical body formed with a slot through the body; and a set screw fixed to the support bar, the set screw received within the slot to limit movement of the left side of the housing with respect to the right side of the housing.
 2. The self-balancing vehicle of claim 1, wherein the support bar is engaged to one of the left and right sides, and the bracket is secured to the other of the left and right sides, such that relative rotational movement of the left and right sides is limited by movement of the set screw within the slot of the bracket.
 3. The self-balancing vehicle of claim 2, wherein rotation of the one of the left and right sides imparts corresponding rotation to the support bar within the bracket, and to the set screw within the slot, without imparting corresponding rotation to the bracket, and without imparting corresponding rotation to the other of the left and right sides.
 4. The self-balancing vehicle of claim 1, wherein the slot is oriented transverse to the support bar.
 5. The self-balancing vehicle of claim 1, wherein the set screw includes a shank secured in the support bar and a head received in the slot of the bracket.
 6. The self-balancing vehicle of claim 1, wherein: the bracket is a right bracket fixed to the right side of the housing; the support bar is formed with an axial channel; and the bracket is fixed to the left side of the housing, encircles the support bar, includes a tongue which is received in the channel of the support bar, thereby engaging the left bracket to the support bar.
 7. The self-balancing vehicle of claim 6, wherein the set screw is secured to the support bar in a bore located in the channel.
 8. A self-balancing vehicle comprising: a vehicle body including a housing having left and right sides which are independently moveable; a unitary support bar disposed within the housing, and a drive wheel coupled to the support bar; a bracket encircling the support bar, the bracket having a cylindrical body formed with a slot through the body; and a set screw fixed to the support bar, the set screw received within the slot; wherein the support bar is engaged to one of the left and right sides, and the bracket is secured to the other of the left and right sides, such that the relative rotational movement of the left and right sides of the housing is limited by movement of the set screw within the slot of the bracket.
 9. The self-balancing vehicle of claim 8, wherein rotation of the one of the left and right sides imparts corresponding rotation to the support bar within the bracket, and to the set screw within the slot, without imparting corresponding rotation to the bracket, and without imparting corresponding rotation to the other of the left and right sides.
 10. The self-balancing vehicle of claim 8, wherein the slot is oriented transverse to the support bar.
 11. The self-balancing vehicle of claim 8, wherein the set screw includes a shank secured in the support bar and a head received in the slot of the bracket.
 12. The self-balancing vehicle of claim 8, wherein: the bracket is a right bracket fixed to the right side of the housing; the support bar is formed with an axial channel; and the bracket is fixed to the left side of the housing, encircles the support bar, includes a tongue which is received in the channel of the support bar, thereby engaging the left bracket to the support bar.
 13. The self-balancing vehicle of claim 12, wherein the set screw is secured to the support bar in a bore located in the channel.
 14. A self-balancing vehicle comprising: a vehicle body including a housing having left and right sides which are independently moveable; a unitary support bar extending across the left and right sides within the housing, and left and right drive wheels coupled to the support bar; a bracket encircling the support bar, the bracket having a cylindrical body formed with a slot through the body; and a set screw fixed to the support bar, the set screw received within the slot; wherein the support bar is engaged to one of the left and right sides, and the bracket is secured to the other of the left and right sides, such that the relative rotational movement of the left and right sides of the housing is limited by movement of the set screw within the slot of the bracket.
 15. The self-balancing vehicle of claim 14, wherein rotation of the one of the left and right sides imparts corresponding rotation to the support bar within the bracket, and to the set screw within the slot, without imparting corresponding rotation to the bracket, and without imparting corresponding rotation to the other of the left and right sides.
 16. The self-balancing vehicle of claim 14, wherein the slot is oriented transverse to the support bar.
 17. The self-balancing vehicle of claim 14, wherein the set screw includes a shank secured in the support bar and a head received in the slot of the bracket.
 18. The self-balancing vehicle of claim 14, wherein: the bracket is a right bracket fixed to the right side of the housing; the support bar is formed with an axial channel; and a left bracket is fixed to the left side of the housing, encircles the support bar, and includes a tongue which is received in the channel of the support bar, thereby engaging the left bracket to the support bar.
 19. The self-balancing vehicle of claim 18, wherein the set screw is secured to the support bar in a bore located in the channel. 